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<li class="navelem"><a class="el" href="dir_c1698e121239b1aba7f6e782e4514e49.html">cFS</a></li><li class="navelem"><a class="el" href="dir_7ee4ce95da95d11e80a01c5101ed8d14.html">apps</a></li><li class="navelem"><a class="el" href="dir_3307e6b4f69f94f64726e869c94196b3.html">safe2ditch</a></li><li class="navelem"><a class="el" href="dir_0fe615e7202ccc96c0b86d4278b93655.html">fsw</a></li><li class="navelem"><a class="el" href="dir_bcc001665a075490ea486d7987dcb639.html">src</a></li>  </ul>
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<div class="title">safe2ditch.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">** File: interface.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">**</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">** Purpose:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">**   This file is main hdr file for the SAMPLE application.</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">**</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">**</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">*******************************************************************************/</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef _safe2ditch_h_</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define _safe2ditch_h_</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;cfe.h&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;cfe_error.h&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;cfe_evs.h&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;cfe_sb.h&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;cfe_es.h&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;errno.h&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;unistd.h&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;network_includes.h&quot;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;safe2ditch_events.h&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="safe2ditch__msgids_8h.html">safe2ditch_msgids.h</a>&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="safe2ditch__msg_8h.html">safe2ditch_msg.h</a>&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msg_8h.html">ardupilot_msg.h</a>&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msgids_8h.html">ardupilot_msgids.h</a>&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilotmega_2mavlink_8h.html">mavlink/ardupilotmega/mavlink.h</a>&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#define S2D_BUFFER_LENGTH 1000</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define SAFE2DITCH_PIPE_NAME &quot;SAFE2DITCH_PIPE&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define SAFE2DITCH_PIPE_DEPTH 100</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <a class="code" href="port__lib_8h.html#a66e863beb9373e5375cccc1270fcdb5ba0917971ba80f3b48c7d0cf1b2da024c7">SOCKET</a>,  </div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <a class="code" href="port__lib_8h.html#a66e863beb9373e5375cccc1270fcdb5bab110642f01505447ed49cf2d49fbf0a2">SERIAL</a>   </div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;} s2d_PortType_t;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structs2d__port__t.html">   55</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span>{</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#acd14b34b2ba994c9488aadd756d46da9">   56</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structs2d__port__t.html#acd14b34b2ba994c9488aadd756d46da9">id</a>;                              </div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#a427121f3875cd942c1081d3410bf5230">   57</a></span>&#160;    s2d_PortType_t <a class="code" href="structs2d__port__t.html#a427121f3875cd942c1081d3410bf5230">portType</a>;             </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#ae077553a187ef821e207fce477b06955">   58</a></span>&#160;    <span class="keyword">struct </span>sockaddr_in target_addr;      </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#afb2d3cb6158baf90e74030f9fcd163ea">   59</a></span>&#160;    <span class="keyword">struct </span>sockaddr_in self_addr;        </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#ae1f4645c7ca703545a3106ebbfd3bb93">   60</a></span>&#160;    socklen_t <a class="code" href="structs2d__port__t.html#ae1f4645c7ca703545a3106ebbfd3bb93">recvlen</a>;                   </div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#aab14e5c3173dc87c16bf2a765ed86572">   61</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structs2d__port__t.html#aab14e5c3173dc87c16bf2a765ed86572">sockId</a>;                          </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#af5ea5d3c1b70bbcaa1fad9dc17041e26">   62</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structs2d__port__t.html#af5ea5d3c1b70bbcaa1fad9dc17041e26">portin</a>;                          </div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#a07a010aafed095d36fca2dcbe2825e21">   63</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structs2d__port__t.html#a07a010aafed095d36fca2dcbe2825e21">portout</a>;                         </div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#ab99e450a10d143b70162de08a060938d">   64</a></span>&#160;    <span class="keywordtype">char</span> target[50];                     </div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#a611cc19e7b6debf12c5b7dbe5b34614d">   65</a></span>&#160;    <span class="keywordtype">char</span> recvbuffer[S2D_BUFFER_LENGTH];  </div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structs2d__port__t.html#a4b9f738c1d22bf9a92120642d9b235fd">   66</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structs2d__port__t.html#a4b9f738c1d22bf9a92120642d9b235fd">baudrate</a>;                        </div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;}<a class="code" href="structs2d__port__t.html">s2d_port_t</a>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structappdataS2D__t.html">   73</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span>{</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structappdataS2D__t.html#a7acfa9aa5c84794165628a2029936ac3">   74</a></span>&#160;    CFE_SB_PipeId_t    <a class="code" href="structappdataS2D__t.html#a7acfa9aa5c84794165628a2029936ac3">SAFE2DITCH_Pipe</a>;     </div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structappdataS2D__t.html#aa66d91f6649be175db7b98f321fba5f1">   75</a></span>&#160;    CFE_SB_MsgPtr_t    <a class="code" href="structappdataS2D__t.html#aa66d91f6649be175db7b98f321fba5f1">SAFE2DITCHMsgPtr</a>;    </div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="structs2d__port__t.html">s2d_port_t</a> s2dport;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordtype">boolean</span> ditchRequested;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">boolean</span> ditchGuidanceRequired;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">boolean</span> resetDitch;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">boolean</span> endDitch;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">double</span> ditchLocation[3];</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <a class="code" href="structsafe2ditchStatus__t.html">safe2ditchStatus_t</a> s2dStatus;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}<a class="code" href="structappdataS2D__t.html">appdataS2D_t</a>;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span>{</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    _INITIALIZE_=0,</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    _STARTDITCH_,</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    _RESETDITCH_,</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    _ENDDITCH_</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}DitchStatus_t;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keywordtype">void</span> SAFE2DITCH_AppMain(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keywordtype">void</span> SAFE2DITCH_AppInit(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keywordtype">void</span> SAFE2DITCH_AppCleanUp(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keywordtype">void</span> s2d_InitializeSocketPort(<a class="code" href="structs2d__port__t.html">s2d_port_t</a> *prt);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keywordtype">int</span> s2d_readPort(<a class="code" href="structs2d__port__t.html">s2d_port_t</a> *prt);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keywordtype">void</span> s2d_writePort(<a class="code" href="structs2d__port__t.html">s2d_port_t</a>* prt,mavlink_message_t *message);</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keywordtype">int</span> GetMAVLinkMsg(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="keywordtype">void</span> ProcessMavlinkMessage(mavlink_message_t message);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keywordtype">void</span> ProcessSBMessage(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* _safe2ditch_app_h_ */</span><span class="preprocessor"></span></div><div class="ttc" id="structs2d__port__t_html_a427121f3875cd942c1081d3410bf5230"><div class="ttname"><a href="structs2d__port__t.html#a427121f3875cd942c1081d3410bf5230">s2d_port_t::portType</a></div><div class="ttdeci">s2d_PortType_t portType</div><div class="ttdoc">port type </div><div class="ttdef"><b>Definition:</b> safe2ditch.h:57</div></div>
<div class="ttc" id="ardupilotmega_2mavlink_8h_html"><div class="ttname"><a href="ardupilotmega_2mavlink_8h.html">mavlink.h</a></div><div class="ttdoc">MAVLink comm protocol built from ardupilotmega.xml. </div></div>
<div class="ttc" id="structappdataS2D__t_html_aa66d91f6649be175db7b98f321fba5f1"><div class="ttname"><a href="structappdataS2D__t.html#aa66d91f6649be175db7b98f321fba5f1">appdataS2D_t::SAFE2DITCHMsgPtr</a></div><div class="ttdeci">CFE_SB_MsgPtr_t SAFE2DITCHMsgPtr</div><div class="ttdoc">msg pointer to SB message </div><div class="ttdef"><b>Definition:</b> safe2ditch.h:75</div></div>
<div class="ttc" id="safe2ditch__msg_8h_html"><div class="ttname"><a href="safe2ditch__msg_8h.html">safe2ditch_msg.h</a></div><div class="ttdoc">safe2ditch app message definition </div></div>
<div class="ttc" id="port__lib_8h_html_a66e863beb9373e5375cccc1270fcdb5ba0917971ba80f3b48c7d0cf1b2da024c7"><div class="ttname"><a href="port__lib_8h.html#a66e863beb9373e5375cccc1270fcdb5ba0917971ba80f3b48c7d0cf1b2da024c7">SOCKET</a></div><div class="ttdoc">enum value SOCKET </div><div class="ttdef"><b>Definition:</b> port_lib.h:28</div></div>
<div class="ttc" id="structs2d__port__t_html_a07a010aafed095d36fca2dcbe2825e21"><div class="ttname"><a href="structs2d__port__t.html#a07a010aafed095d36fca2dcbe2825e21">s2d_port_t::portout</a></div><div class="ttdeci">int portout</div><div class="ttdoc">output socket </div><div class="ttdef"><b>Definition:</b> safe2ditch.h:63</div></div>
<div class="ttc" id="structsafe2ditchStatus__t_html"><div class="ttname"><a href="structsafe2ditchStatus__t.html">safe2ditchStatus_t</a></div><div class="ttdoc">message contaning status information about safe2ditch </div><div class="ttdef"><b>Definition:</b> safe2ditch_msg.h:27</div></div>
<div class="ttc" id="ardupilot__msg_8h_html"><div class="ttname"><a href="ardupilot__msg_8h.html">ardupilot_msg.h</a></div><div class="ttdoc">Ardupilot message definitions. </div></div>
<div class="ttc" id="structs2d__port__t_html"><div class="ttname"><a href="structs2d__port__t.html">s2d_port_t</a></div><div class="ttdef"><b>Definition:</b> safe2ditch.h:55</div></div>
<div class="ttc" id="structappdataS2D__t_html"><div class="ttname"><a href="structappdataS2D__t.html">appdataS2D_t</a></div><div class="ttdef"><b>Definition:</b> safe2ditch.h:73</div></div>
<div class="ttc" id="structs2d__port__t_html_acd14b34b2ba994c9488aadd756d46da9"><div class="ttname"><a href="structs2d__port__t.html#acd14b34b2ba994c9488aadd756d46da9">s2d_port_t::id</a></div><div class="ttdeci">int id</div><div class="ttdoc">id </div><div class="ttdef"><b>Definition:</b> safe2ditch.h:56</div></div>
<div class="ttc" id="port__lib_8h_html_a66e863beb9373e5375cccc1270fcdb5bab110642f01505447ed49cf2d49fbf0a2"><div class="ttname"><a href="port__lib_8h.html#a66e863beb9373e5375cccc1270fcdb5bab110642f01505447ed49cf2d49fbf0a2">SERIAL</a></div><div class="ttdoc">enum value SERIAL </div><div class="ttdef"><b>Definition:</b> port_lib.h:29</div></div>
<div class="ttc" id="structs2d__port__t_html_ae1f4645c7ca703545a3106ebbfd3bb93"><div class="ttname"><a href="structs2d__port__t.html#ae1f4645c7ca703545a3106ebbfd3bb93">s2d_port_t::recvlen</a></div><div class="ttdeci">socklen_t recvlen</div><div class="ttdoc">length of received host properties </div><div class="ttdef"><b>Definition:</b> safe2ditch.h:60</div></div>
<div class="ttc" id="structs2d__port__t_html_af5ea5d3c1b70bbcaa1fad9dc17041e26"><div class="ttname"><a href="structs2d__port__t.html#af5ea5d3c1b70bbcaa1fad9dc17041e26">s2d_port_t::portin</a></div><div class="ttdeci">int portin</div><div class="ttdoc">input socket </div><div class="ttdef"><b>Definition:</b> safe2ditch.h:62</div></div>
<div class="ttc" id="structs2d__port__t_html_a4b9f738c1d22bf9a92120642d9b235fd"><div class="ttname"><a href="structs2d__port__t.html#a4b9f738c1d22bf9a92120642d9b235fd">s2d_port_t::baudrate</a></div><div class="ttdeci">int baudrate</div><div class="ttdoc">baud rate only if a serial port </div><div class="ttdef"><b>Definition:</b> safe2ditch.h:66</div></div>
<div class="ttc" id="ardupilot__msgids_8h_html"><div class="ttname"><a href="ardupilot__msgids_8h.html">ardupilot_msgids.h</a></div><div class="ttdoc">Message ID definition of ardupilot app messages. </div></div>
<div class="ttc" id="structappdataS2D__t_html_a7acfa9aa5c84794165628a2029936ac3"><div class="ttname"><a href="structappdataS2D__t.html#a7acfa9aa5c84794165628a2029936ac3">appdataS2D_t::SAFE2DITCH_Pipe</a></div><div class="ttdeci">CFE_SB_PipeId_t SAFE2DITCH_Pipe</div><div class="ttdoc">pipe variable </div><div class="ttdef"><b>Definition:</b> safe2ditch.h:74</div></div>
<div class="ttc" id="safe2ditch__msgids_8h_html"><div class="ttname"><a href="safe2ditch__msgids_8h.html">safe2ditch_msgids.h</a></div><div class="ttdoc">message definitions for safe2ditch app </div></div>
<div class="ttc" id="structs2d__port__t_html_aab14e5c3173dc87c16bf2a765ed86572"><div class="ttname"><a href="structs2d__port__t.html#aab14e5c3173dc87c16bf2a765ed86572">s2d_port_t::sockId</a></div><div class="ttdeci">int sockId</div><div class="ttdoc">socket id </div><div class="ttdef"><b>Definition:</b> safe2ditch.h:61</div></div>
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